弹性机构振动主动控制中压电作动器/传感器的优化配置

讨论了高速弹性机构构件上压电作动器和传感器粘贴位置优化配置的方法。基于机构弹性动力学控制方程，对系统模态作动力系数矩阵，作奇异值分解和振动响应观测信号，作小波变换，获得了作动器和传感器不同分布情况下作动力和观测信号的能量表达式，提出了判定作动器／传感器最优配置的可控性指标和可观性指标。最后，对弹性连杆机构进行数值仿真，确定了机构构件上压电作动器和传感器的最优配置。

Optimal disposition of piezoelectric actuators/sensors in active control of vibration for elastic mechanism

The optimal disposition method about sticking position of piezoelectric actuators / sensors on structural members of high speed elastic mechanism was discussed. On the basis of elastic dynamics governing equation of mechanism, the singular value decomposition is made upon actuating coefficient matrix of systematic modality and wavelet transformation is made upon observed signal of vibration response to obtain the energy expression of actuating force and observed signal under different distribution cases of actuators and sensors. The controllability and observability indexes for judging the optimal dispositions of actuators / sensors was proposed. Finally, the numerical simulation is carried out on elastic linkage mechanism and determined the optimal disposition of piezoelectric actuators and sensors on components of mechanism. The result of computation verified that the method of this paper is simple and feasible.